From 9781e3f0e8bf3ede0bcfa72f73d9e507428001f2 Mon Sep 17 00:00:00 2001 From: "Y.Hisaki" Date: Sun, 9 Jun 2024 00:13:33 +0900 Subject: [PATCH] refactor(scenario_selector): prefix package and namespace with autoware_ Signed-off-by: Y.Hisaki --- .github/CODEOWNERS | 2 +- .../scenario_planning.launch.xml | 2 +- launch/tier4_planning_launch/package.xml | 2 +- planning/.pages | 2 +- .../CMakeLists.txt | 15 +++++++-------- .../README.md | 8 ++++---- .../config/scenario_selector.param.yaml | 0 .../include/autoware_scenario_selector/node.hpp} | 10 ++++++---- ...ummy_scenario_selector_lane_driving.launch.xml | 0 .../dummy_scenario_selector_parking.launch.xml | 0 .../launch/scenario_selector.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../schema/scenario_selector.schema.json | 4 ++-- .../src/node.cpp} | 8 +++++--- ...autoware_scenario_selector_node_interface.cpp} | 6 ++++-- 15 files changed, 36 insertions(+), 31 deletions(-) rename planning/{scenario_selector => autoware_scenario_selector}/CMakeLists.txt (54%) rename planning/{scenario_selector => autoware_scenario_selector}/README.md (91%) rename planning/{scenario_selector => autoware_scenario_selector}/config/scenario_selector.param.yaml (100%) rename planning/{scenario_selector/include/scenario_selector/scenario_selector_node.hpp => autoware_scenario_selector/include/autoware_scenario_selector/node.hpp} (94%) rename planning/{scenario_selector => autoware_scenario_selector}/launch/dummy_scenario_selector_lane_driving.launch.xml (100%) rename planning/{scenario_selector => autoware_scenario_selector}/launch/dummy_scenario_selector_parking.launch.xml (100%) rename planning/{scenario_selector => autoware_scenario_selector}/launch/scenario_selector.launch.xml (80%) rename planning/{scenario_selector => autoware_scenario_selector}/package.xml (93%) rename planning/{scenario_selector => autoware_scenario_selector}/schema/scenario_selector.schema.json (94%) rename planning/{scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp => autoware_scenario_selector/src/node.cpp} (98%) rename planning/{scenario_selector/test/test_scenario_selector_node_interface.cpp => autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp} (97%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 297ce75c5c176..1adc34fe63e4d 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -204,7 +204,7 @@ planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4. planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp -planning/scenario_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +planning/autoware_scenario_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/autoware_surround_obstacle_checker/** go.sakayori@tier4.jp satoshi.ota@tier4.jp sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml index f96cac4f017a6..a252986f9d957 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index e5def4c7aed0c..798ee7675acaa 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -64,6 +64,7 @@ autoware_planning_topic_converter autoware_planning_validator autoware_remaining_distance_time_calculator + autoware_scenario_selector autoware_surround_obstacle_checker autoware_velocity_smoother behavior_path_planner @@ -74,7 +75,6 @@ obstacle_cruise_planner obstacle_stop_planner planning_evaluator - scenario_selector ament_lint_auto autoware_lint_common diff --git a/planning/.pages b/planning/.pages index be6bf0af9b2a9..49c87b4bcf418 100644 --- a/planning/.pages +++ b/planning/.pages @@ -70,7 +70,7 @@ nav: - 'Velocity Smoother': - 'About Velocity Smoother': planning/autoware_velocity_smoother - 'About Velocity Smoother (Japanese)': planning/autoware_velocity_smoother/README.ja - - 'Scenario Selector': planning/scenario_selector + - 'Scenario Selector': planning/autoware_scenario_selector - 'Static Centerline Generator': planning/autoware_static_centerline_generator - 'API and Library': - 'Costmap Generator': planning/costmap_generator diff --git a/planning/scenario_selector/CMakeLists.txt b/planning/autoware_scenario_selector/CMakeLists.txt similarity index 54% rename from planning/scenario_selector/CMakeLists.txt rename to planning/autoware_scenario_selector/CMakeLists.txt index d2e9e051d721a..e615ed69d61bf 100644 --- a/planning/scenario_selector/CMakeLists.txt +++ b/planning/autoware_scenario_selector/CMakeLists.txt @@ -1,16 +1,16 @@ cmake_minimum_required(VERSION 3.14) -project(scenario_selector) +project(autoware_scenario_selector) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(scenario_selector_node SHARED - src/scenario_selector_node/scenario_selector_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/node.cpp ) -rclcpp_components_register_node(scenario_selector_node - PLUGIN "ScenarioSelectorNode" - EXECUTABLE scenario_selector +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::scenario_selector::ScenarioSelectorNode" + EXECUTABLE ${PROJECT_NAME}_node ) if(BUILD_TESTING) @@ -18,11 +18,10 @@ if(BUILD_TESTING) test/test_${PROJECT_NAME}_node_interface.cpp ) target_link_libraries(test_${PROJECT_NAME} - ${PROJECT_NAME}_node + ${PROJECT_NAME} ) endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/planning/scenario_selector/README.md b/planning/autoware_scenario_selector/README.md similarity index 91% rename from planning/scenario_selector/README.md rename to planning/autoware_scenario_selector/README.md index 373ac164e5057..a0b78a572c734 100644 --- a/planning/scenario_selector/README.md +++ b/planning/autoware_scenario_selector/README.md @@ -1,4 +1,4 @@ -# scenario_selector +# autoware_scenario_selector ## scenario_selector_node @@ -29,12 +29,12 @@ None ### How to launch 1. Write your remapping info in `scenario_selector.launch` or add args when executing `roslaunch` -2. `roslaunch scenario_selector scenario_selector.launch` - - If you would like to use only a single scenario, `roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch` +2. `roslaunch autoware_scenario_selector scenario_selector.launch` + - If you would like to use only a single scenario, `roslaunch autoware_scenario_selector dummy_scenario_selector_{scenario_name}.launch` ### Parameters -{{ json_to_markdown("planning/scenario_selector/schema/scenario_selector.schema.json") }} +{{ json_to_markdown("planning/autoware_scenario_selector/schema/scenario_selector.schema.json") }} ### Flowchart diff --git a/planning/scenario_selector/config/scenario_selector.param.yaml b/planning/autoware_scenario_selector/config/scenario_selector.param.yaml similarity index 100% rename from planning/scenario_selector/config/scenario_selector.param.yaml rename to planning/autoware_scenario_selector/config/scenario_selector.param.yaml diff --git a/planning/scenario_selector/include/scenario_selector/scenario_selector_node.hpp b/planning/autoware_scenario_selector/include/autoware_scenario_selector/node.hpp similarity index 94% rename from planning/scenario_selector/include/scenario_selector/scenario_selector_node.hpp rename to planning/autoware_scenario_selector/include/autoware_scenario_selector/node.hpp index 7162a435d8852..5551db45bba37 100644 --- a/planning/scenario_selector/include/scenario_selector/scenario_selector_node.hpp +++ b/planning/autoware_scenario_selector/include/autoware_scenario_selector/node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SCENARIO_SELECTOR__SCENARIO_SELECTOR_NODE_HPP_ -#define SCENARIO_SELECTOR__SCENARIO_SELECTOR_NODE_HPP_ +#ifndef AUTOWARE_SCENARIO_SELECTOR__NODE_HPP_ +#define AUTOWARE_SCENARIO_SELECTOR__NODE_HPP_ #include #include @@ -43,6 +43,8 @@ #include #include +namespace autoware::scenario_selector +{ class ScenarioSelectorNode : public rclcpp::Node { public: @@ -100,5 +102,5 @@ class ScenarioSelectorNode : public rclcpp::Node double th_stopped_velocity_mps_; bool is_parking_completed_; }; - -#endif // SCENARIO_SELECTOR__SCENARIO_SELECTOR_NODE_HPP_ +} // namespace autoware::scenario_selector +#endif // AUTOWARE_SCENARIO_SELECTOR__NODE_HPP_ diff --git a/planning/scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml b/planning/autoware_scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml similarity index 100% rename from planning/scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml rename to planning/autoware_scenario_selector/launch/dummy_scenario_selector_lane_driving.launch.xml diff --git a/planning/scenario_selector/launch/dummy_scenario_selector_parking.launch.xml b/planning/autoware_scenario_selector/launch/dummy_scenario_selector_parking.launch.xml similarity index 100% rename from planning/scenario_selector/launch/dummy_scenario_selector_parking.launch.xml rename to planning/autoware_scenario_selector/launch/dummy_scenario_selector_parking.launch.xml diff --git a/planning/scenario_selector/launch/scenario_selector.launch.xml b/planning/autoware_scenario_selector/launch/scenario_selector.launch.xml similarity index 80% rename from planning/scenario_selector/launch/scenario_selector.launch.xml rename to planning/autoware_scenario_selector/launch/scenario_selector.launch.xml index fdf176405d7b0..8c35451ee19dc 100644 --- a/planning/scenario_selector/launch/scenario_selector.launch.xml +++ b/planning/autoware_scenario_selector/launch/scenario_selector.launch.xml @@ -9,9 +9,9 @@ - + - + diff --git a/planning/scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml similarity index 93% rename from planning/scenario_selector/package.xml rename to planning/autoware_scenario_selector/package.xml index f910c09dbb070..ee58eac35c8ae 100644 --- a/planning/scenario_selector/package.xml +++ b/planning/autoware_scenario_selector/package.xml @@ -1,9 +1,9 @@ - scenario_selector + autoware_scenario_selector 0.1.0 - The scenario_selector ROS 2 package + The autoware_scenario_selector ROS 2 package Taiki Tanaka Tomoya Kimura Shumpei Wakabayashi diff --git a/planning/scenario_selector/schema/scenario_selector.schema.json b/planning/autoware_scenario_selector/schema/scenario_selector.schema.json similarity index 94% rename from planning/scenario_selector/schema/scenario_selector.schema.json rename to planning/autoware_scenario_selector/schema/scenario_selector.schema.json index 8ccb75106c6a5..a9e6411084a88 100644 --- a/planning/scenario_selector/schema/scenario_selector.schema.json +++ b/planning/autoware_scenario_selector/schema/scenario_selector.schema.json @@ -3,7 +3,7 @@ "title": "Parameters for Scenario Selector Node", "type": "object", "definitions": { - "scenario_selector": { + "autoware_scenario_selector": { "type": "object", "properties": { "update_rate": { @@ -51,7 +51,7 @@ "type": "object", "properties": { "ros__parameters": { - "$ref": "#/definitions/scenario_selector" + "$ref": "#/definitions/autoware_scenario_selector" } }, "required": ["ros__parameters"] diff --git a/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp b/planning/autoware_scenario_selector/src/node.cpp similarity index 98% rename from planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp rename to planning/autoware_scenario_selector/src/node.cpp index 2ba56a911bbeb..1f1a22cf08deb 100644 --- a/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp +++ b/planning/autoware_scenario_selector/src/node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "scenario_selector/scenario_selector_node.hpp" +#include "autoware_scenario_selector/node.hpp" #include #include @@ -28,7 +28,8 @@ #include #include #include - +namespace autoware::scenario_selector +{ namespace { template @@ -373,6 +374,7 @@ ScenarioSelectorNode::ScenarioSelectorNode(const rclcpp::NodeOptions & node_opti this, get_clock(), period_ns, std::bind(&ScenarioSelectorNode::onTimer, this)); published_time_publisher_ = std::make_unique(this); } +} // namespace autoware::scenario_selector #include -RCLCPP_COMPONENTS_REGISTER_NODE(ScenarioSelectorNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::scenario_selector::ScenarioSelectorNode) diff --git a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp similarity index 97% rename from planning/scenario_selector/test/test_scenario_selector_node_interface.cpp rename to planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp index 90995e4e2ae72..052c455c477a7 100644 --- a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp +++ b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "scenario_selector/scenario_selector_node.hpp" +#include "autoware_scenario_selector/node.hpp" #include #include @@ -22,7 +22,8 @@ #include #include - +namespace autoware::scenario_selector +{ using planning_test_utils::PlanningInterfaceTestManager; std::shared_ptr generateTestManager() @@ -121,3 +122,4 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose) ASSERT_NO_THROW(test_manager->testTrajectoryWithInvalidEgoPose(test_target_node)); rclcpp::shutdown(); } +} // namespace autoware::scenario_selector